def trash_sample():
    """
    """
    evlog = Controller.getInstance().logEvent
    evlog("trash_sample")

    if robot.simulated:
        time.sleep(3.0)
        return    
    
    #Initial checks
    robot.assert_no_task()
    robot.reset_motion()
    robot.wait_ready()
    robot.assert_cleared()
    #robot.assert_in_known_point()

    was_cold = robot.is_cold()

    #Enabling
    enable_motion()

    robot.move_gonio()
    
    curpos = cryopos.getPosition()
    speed = cryopos.getSpeed() / 1000.0
    movetime = int(round(3000 + (15.  - curpos) / speed))
    cryopos.move(15.0, movetime)
    cryopos.waitValueInRange(15.0, 1.0, movetime)

    robot.get_gonio()
    robot.move_heater(to_bottom = False)    
    robot.move_heater(to_bottom = True)    

    try:
        for i in range(3):
            robot.open_tool()
            time.sleep(0.5)
            robot.close_tool()
            time.sleep(0.5)
    finally:
        robot.open_tool()
        
                
    robot.move_heater(to_bottom =  False)    
    if was_cold:
        robot.move_cold()
    else:
        robot.move_home()